Do you know Orocos..? Orocos is a C++ framework for component-based robot control software, of course this is an open source software.
Orocos is the acronym of the Open Robot Control Software project. The project’s aim is to develop a general-purpose, free software, and modular framework for robot and machine control. The Orocos project supports 4 C++ libraries: the Real-Time Toolkit, the Kinematics and Dynamics Library, the Bayesian Filtering Library and the Orocos Component Library.
Here the figure of Orocos library:
- The Orocos Real-Time Toolkit (RTT) is not an application in itself, but it provides the infrastructure and the functionalities to build robotics applications in C++. The emphasis is on real-time, on-line interactive and component based applications.
- The Orocos Components Library (OCL) provides some ready to use control components. Both Component management and Components for control and hardware access are available.
- The Orocos Kinematics and Dynamics Library (KDL) is a C++ library which allows to calculate kinematic chains in real-time.
- The Orocos Bayesian Filtering Library (BFL) provides an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes’ rule, such as (Extended) Kalman Filters, Particle Filters (Sequential Monte methods), etc.
Orocos is a free software project, hence its code and documentation are released under Free Software licenses.
For more information about Orocos include project history and applications , visit www.orocos.org